Abstract
This paper addresses the problem of constrained motion for a manipulator performing a task while in contact with the environment, and proposes a solution based on projected operational space dynamics. The main advantages of this control technique are: 1) it exploits the environment contact constraint itself, so as to minimise the joint torques needed to perform the task; 2) it enables full decoupling of motion and force control; 3) force feedback from a force sensor mounted at the end effector or other contact points is not needed. This work is a step towards a robot control strategy which mimics the human behaviour of exploiting contacts with the environment to help perform tasks. We present an experimental implementation of the control method in which a KUKA LWR IV manipulator uses an eraser to wipe a whiteboard, and we show that this controller can effectively exploit contact with the whiteboard in order to reduce joint torques while still performing the desired wiping motion.
Original language | English |
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Title of host publication | IEEE-RAS International Conference on Humanoid Robots |
Publisher | IEEE Computer Society Press |
Pages | 407-412 |
Number of pages | 6 |
Volume | 2015-February |
ISBN (Print) | 9781479971749 |
DOIs | |
Publication status | Published - 12 Feb 2015 |
Event | 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain Duration: 18 Nov 2014 → 20 Nov 2014 |
Conference
Conference | 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 |
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Country/Territory | Spain |
City | Madrid |
Period | 18/11/14 → 20/11/14 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Hardware and Architecture
- Human-Computer Interaction
- Electrical and Electronic Engineering